I keep ours covered during the off season, July-September and again December-March. More to try to be compliant with the HOA than rv protection. The rv does seam to stay cleaner when stored with cover on. We went through 2 covers on old camper in 10 years, the Addco Designer with tyvek lasted longer than the Aqua Shield.
Our old camper wasnt to bad to put on or take off the cover. Wife on one side with an 8 foot ladder and I on the other side with 6 footer. Roll it out or roll it up, wasnt too bad. Our new camper is taller and sharp edges on roof are harder to get to. Its not to hard if I get up on the roof, which I try not to do. So once camping season begins, it stays uncovered.
Edit to add: make sure the cover doesnt bellow. The membrane on the old camper rolled over the back wall, the cover sliding around on the edge wore through the roof membrane.